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<div class="title">PxImmediateMode.h</div>  </div>
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<a href="PxImmediateMode_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">// are met:</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">//  * Redistributions of source code must retain the above copyright</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">//    notice, this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">//  * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//    notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">//    documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//  * Neither the name of NVIDIA CORPORATION nor the names of its</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">//    contributors may be used to endorse or promote products derived</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//    from this software without specific prior written permission.</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS &#39;&#39;AS IS&#39;&#39; AND ANY</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE COPYRIGHT OWNER OR</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">// Copyright (c) 2008-2021 NVIDIA Corporation. All rights reserved.</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">// Copyright (c) 2004-2008 AGEIA Technologies, Inc. All rights reserved.</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">// Copyright (c) 2001-2004 NovodeX AG. All rights reserved.  </span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#ifndef PX_PHYSICS_IMMEDIATE_MODE</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="preprocessor">#define PX_PHYSICS_IMMEDIATE_MODE</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a>&quot;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxSolverDefs_8h.html">solver/PxSolverDefs.h</a>&quot;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxCollisionDefs_8h.html">collision/PxCollisionDefs.h</a>&quot;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="PxArticulationReducedCoordinate_8h.html">PxArticulationReducedCoordinate.h</a>&quot;</span></div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacephysx.html">physx</a></div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;{</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#if !PX_DOXYGEN</span></div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>immediate</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structPxRigidBodyData.html">   53</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structPxRigidBodyData.html">PxRigidBodyData</a></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    {</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;        <a class="code" href="group__foundation.html#ga95024dd88a7efd73c060616238ccbe8a">PX_ALIGN</a>(16, <a class="code" href="classPxVec3.html">PxVec3</a> linearVelocity);    </div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structPxRigidBodyData.html#a4edc039e489d03db2066b993cacf5c8e">   56</a></span>&#160;        <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxRigidBodyData.html#a4edc039e489d03db2066b993cacf5c8e">invMass</a>;                         </div><div class="line"><a name="l00057"></a><span class="lineno"><a class="line" href="structPxRigidBodyData.html#a595b23f708d54d34a433f58e9e53da99">   57</a></span>&#160;        <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="structPxRigidBodyData.html#a595b23f708d54d34a433f58e9e53da99">angularVelocity</a>;                 </div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="structPxRigidBodyData.html#a2e1756608c49188883e670d0318dcc06">   58</a></span>&#160;        <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxRigidBodyData.html#a2e1756608c49188883e670d0318dcc06">maxDepenetrationVelocity</a>;        </div><div class="line"><a name="l00059"></a><span class="lineno"><a class="line" href="structPxRigidBodyData.html#adbfbf35988384b74c8c9fa4280a7c45b">   59</a></span>&#160;        <a class="code" href="classPxVec3.html">PxVec3</a> <a class="code" href="structPxRigidBodyData.html#adbfbf35988384b74c8c9fa4280a7c45b">invInertia</a>;                      </div><div class="line"><a name="l00060"></a><span class="lineno"><a class="line" href="structPxRigidBodyData.html#a660b46913c44f1c050e2e1559c45ddd1">   60</a></span>&#160;        <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxRigidBodyData.html#a660b46913c44f1c050e2e1559c45ddd1">maxContactImpulse</a>;               </div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="structPxRigidBodyData.html#a99ed9fc3a0742e76ee3410c5e3ef72fc">   61</a></span>&#160;        <a class="code" href="classPxTransform.html">PxTransform</a> <a class="code" href="structPxRigidBodyData.html#a99ed9fc3a0742e76ee3410c5e3ef72fc">body2World</a>;                 </div><div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="structPxRigidBodyData.html#a8623352bac79ed126892a104e1aab68d">   62</a></span>&#160;        <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxRigidBodyData.html#a8623352bac79ed126892a104e1aab68d">linearDamping</a>;                   </div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="structPxRigidBodyData.html#a94c9d8403adad700ceeffa7005991d7e">   63</a></span>&#160;        <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxRigidBodyData.html#a94c9d8403adad700ceeffa7005991d7e">angularDamping</a>;                  </div><div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="structPxRigidBodyData.html#afe4e0a693288590b7ce8383bc3e2cd79">   64</a></span>&#160;        <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxRigidBodyData.html#afe4e0a693288590b7ce8383bc3e2cd79">maxLinearVelocitySq</a>;             </div><div class="line"><a name="l00065"></a><span class="lineno"><a class="line" href="structPxRigidBodyData.html#aa523e1704f34568a599f4744f0b6cbbc">   65</a></span>&#160;        <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> <a class="code" href="structPxRigidBodyData.html#aa523e1704f34568a599f4744f0b6cbbc">maxAngularVelocitySq</a>;            </div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="structPxRigidBodyData.html#a1bb93cacad36fcc17492afe83718f8c7">   66</a></span>&#160;        <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="structPxRigidBodyData.html#a1bb93cacad36fcc17492afe83718f8c7">pad</a>;                              </div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    };</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno"><a class="line" href="classPxContactRecorder.html">   72</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classPxContactRecorder.html">PxContactRecorder</a></div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    {</div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        <span class="keyword">virtual</span> <span class="keywordtype">bool</span> recordContacts(<span class="keyword">const</span> Gu::ContactPoint* contactPoints, <span class="keyword">const</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> <a class="code" href="PxContact_8h.html#ae377550fb9bb881c6514f5fc3a165d1d">nbContacts</a>, <span class="keyword">const</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> index) = 0;</div><div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;</div><div class="line"><a name="l00084"></a><span class="lineno"><a class="line" href="classPxContactRecorder.html#a0438ffde649943dc78286c3e3d0bce86">   84</a></span>&#160;        <span class="keyword">virtual</span> <a class="code" href="classPxContactRecorder.html#a0438ffde649943dc78286c3e3d0bce86">~PxContactRecorder</a>(){}</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    };</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;    <a class="code" href="Pxc_8h.html#aea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="code" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <span class="keywordtype">void</span> <a class="code" href="group__immediatemode.html#ga56e360f21e02eeed788a58782e77316a">PxConstructSolverBodies</a>(<span class="keyword">const</span> <a class="code" href="structPxRigidBodyData.html">PxRigidBodyData</a>* inRigidData, <a class="code" href="structPxSolverBodyData.html">PxSolverBodyData</a>* outSolverBodyData, <span class="keyword">const</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbBodies, <span class="keyword">const</span> <a class="code" href="classPxVec3.html">PxVec3</a>&amp; gravity, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> dt);</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <a class="code" href="Pxc_8h.html#aea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="code" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <span class="keywordtype">void</span> <a class="code" href="group__immediatemode.html#gab1ff672bf5a0569d6cc5f137142b1c1d">PxConstructStaticSolverBody</a>(<span class="keyword">const</span> <a class="code" href="classPxTransform.html">PxTransform</a>&amp; globalPose, <a class="code" href="structPxSolverBodyData.html">PxSolverBodyData</a>&amp; solverBodyData);</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; 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allocator, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> dt, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invDt);</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;    <a class="code" href="Pxc_8h.html#aea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="code" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <span class="keywordtype">bool</span> <a class="code" href="group__immediatemode.html#gab92fb9ab349962c5271c9644d3ec9f71">PxCreateJointConstraintsWithShaders</a>(<a class="code" href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a>* batchHeaders, <span class="keyword">const</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbBatchHeaders, <a class="code" href="classPxConstraint.html">PxConstraint</a>** constraints, <a class="code" href="structPxSolverConstraintPrepDesc.html">PxSolverConstraintPrepDesc</a>* jointDescs, <a class="code" href="classPxConstraintAllocator.html">PxConstraintAllocator</a>&amp; 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   };</div><div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;</div><div class="line"><a name="l00276"></a><span class="lineno"><a class="line" href="structPxMutableLinkData.html">  276</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structPxMutableLinkData.html">PxMutableLinkData</a></div><div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;    {</div><div class="line"><a name="l00278"></a><span class="lineno"><a class="line" href="structPxMutableLinkData.html#a2363028891109e1cf9ef254e454ce198">  278</a></span>&#160;        <a class="code" href="classPxVec3.html">PxVec3</a>  <a class="code" href="structPxMutableLinkData.html#a2363028891109e1cf9ef254e454ce198">inverseInertia</a>;</div><div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="structPxMutableLinkData.html#a6638557880cfc10acb70b900eef8c5df">  279</a></span>&#160;        <span class="keywordtype">float</span>   <a class="code" href="structPxMutableLinkData.html#a6638557880cfc10acb70b900eef8c5df">inverseMass</a>;</div><div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="structPxMutableLinkData.html#a71f45bc5834d96a08c90e2cf369f62ab">  280</a></span>&#160;        <span class="keywordtype">float</span>   <a class="code" href="structPxMutableLinkData.html#a71f45bc5834d96a08c90e2cf369f62ab">linearDamping</a>;</div><div class="line"><a name="l00281"></a><span class="lineno"><a class="line" href="structPxMutableLinkData.html#a68d474233833a0f0ba084dcb61e5226c">  281</a></span>&#160;        <span class="keywordtype">float</span>   <a class="code" href="structPxMutableLinkData.html#a68d474233833a0f0ba084dcb61e5226c">angularDamping</a>;</div><div class="line"><a name="l00282"></a><span class="lineno"><a class="line" href="structPxMutableLinkData.html#af558b8f57726dd451ad61d517bf4e2d0">  282</a></span>&#160;        <span class="keywordtype">float</span>   <a class="code" href="structPxMutableLinkData.html#af558b8f57726dd451ad61d517bf4e2d0">maxLinearVelocitySq</a>;</div><div class="line"><a name="l00283"></a><span class="lineno"><a class="line" href="structPxMutableLinkData.html#a582dc48b3713a0375af2b57491d70b7c">  283</a></span>&#160;        <span class="keywordtype">float</span>   <a class="code" href="structPxMutableLinkData.html#a582dc48b3713a0375af2b57491d70b7c">maxAngularVelocitySq</a>;</div><div class="line"><a name="l00284"></a><span class="lineno"><a class="line" href="structPxMutableLinkData.html#a004cfc3f32c789b2dd5610294f3e4f58">  284</a></span>&#160; 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   {</div><div class="line"><a name="l00296"></a><span class="lineno"><a class="line" href="structPxFeatherstoneArticulationLinkData.html#acdc95be4ba4780c781a51e996941c0d6">  296</a></span>&#160;        <a class="code" href="structPxFeatherstoneArticulationLinkData.html#acdc95be4ba4780c781a51e996941c0d6">PxFeatherstoneArticulationLinkData</a>()    { initData();   }</div><div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;</div><div class="line"><a name="l00298"></a><span class="lineno"><a class="line" href="structPxFeatherstoneArticulationLinkData.html#aebb0552bf75fa367ca80cadfce32361b">  298</a></span>&#160;        <span class="keywordtype">void</span>    <a class="code" href="structPxFeatherstoneArticulationLinkData.html#aebb0552bf75fa367ca80cadfce32361b">initData</a>()</div><div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        {</div><div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;            inboundJoint.type                   = <a class="code" href="structPxArticulationJointType.html#a0df5bb8217acae97e63421bedbfe0a0baa3b41bcb6b6b318f64d2dfb3073f277e">PxArticulationJointType::eUNDEFINED</a>; 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   <a class="code" href="Pxc_8h.html#aea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="code" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <span class="keywordtype">bool</span> <a class="code" href="group__immediatemode.html#ga629b4a4c51411cad67e91991e74a1fa9">PxCreateJointConstraintsWithShadersTGS</a>(<a class="code" href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a>* batchHeaders, <span class="keyword">const</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbBatchHeaders, <a class="code" href="classPxConstraint.html">PxConstraint</a>** constraints, <a class="code" href="structPxTGSSolverConstraintPrepDesc.html">PxTGSSolverConstraintPrepDesc</a>* jointDescs, <a class="code" href="classPxConstraintAllocator.html">PxConstraintAllocator</a>&amp; allocator, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> dt, </div><div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;        <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> totalDt, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invDt, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invTotalDt, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> lengthScale);</div><div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;</div><div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;    <a class="code" href="Pxc_8h.html#aea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="code" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <span class="keywordtype">bool</span> <a class="code" href="group__immediatemode.html#gab61d264d8d74cb67dbbe06b041bde7bd">PxCreateJointConstraintsWithImmediateShadersTGS</a>(<a class="code" href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a>* batchHeaders, <span class="keyword">const</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbBatchHeaders, <a class="code" href="structPxImmediateConstraint.html">PxImmediateConstraint</a>* constraints, <a class="code" href="structPxTGSSolverConstraintPrepDesc.html">PxTGSSolverConstraintPrepDesc</a>* jointDescs,</div><div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;        <a class="code" href="classPxConstraintAllocator.html">PxConstraintAllocator</a>&amp; allocator, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> dt, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> totalDt, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invDt, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> invTotalDt, <span class="keyword">const</span> <a class="code" href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">PxReal</a> lengthScale);</div><div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;</div><div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;</div><div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;    <a class="code" href="Pxc_8h.html#aea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a> <a class="code" href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a> <span class="keywordtype">void</span> <a class="code" href="group__immediatemode.html#ga650d7b45abd5412722bd0f226df3d246">PxSolveConstraintsTGS</a>(<span class="keyword">const</span> <a class="code" href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a>* batchHeaders, <span class="keyword">const</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbBatchHeaders, <span class="keyword">const</span> <a class="code" href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a>* solverConstraintDescs,</div><div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;        <a class="code" href="structPxTGSSolverBodyVel.html">PxTGSSolverBodyVel</a>* solverBodies, <a class="code" href="structPxTGSSolverBodyTxInertia.html">PxTGSSolverBodyTxInertia</a>* txInertias, <span class="keyword">const</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbSolverBodies, <span class="keyword">const</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbPositionIterations, <span class="keyword">const</span> <a class="code" href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a> nbVelocityIterations,</div><div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160; 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<div class="ttc" id="structPxImmediateConstraint_html_a4f9691af8e91708cc4e4a4aea7d7e9b5"><div class="ttname"><a href="structPxImmediateConstraint.html#a4f9691af8e91708cc4e4a4aea7d7e9b5">PxImmediateConstraint::constantBlock</a></div><div class="ttdeci">const void * constantBlock</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:174</div></div>
<div class="ttc" id="structPxArticulationLimit_html"><div class="ttname"><a href="structPxArticulationLimit.html">PxArticulationLimit</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:302</div></div>
<div class="ttc" id="structPxArticulationJointData_html"><div class="ttname"><a href="structPxArticulationJointData.html">PxArticulationJointData</a></div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:253</div></div>
<div class="ttc" id="namespaceDy_html_a5be4d4b78399a053941fded260b04e61"><div class="ttname"><a href="namespaceDy.html#a5be4d4b78399a053941fded260b04e61">Dy::ArticulationLinkHandle</a></div><div class="ttdeci">size_t ArticulationLinkHandle</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:54</div></div>
<div class="ttc" id="structPxFeatherstoneArticulationData_html_ac616f44912f85fd15cab3df03b9a177d"><div class="ttname"><a href="structPxFeatherstoneArticulationData.html#ac616f44912f85fd15cab3df03b9a177d">PxFeatherstoneArticulationData::flags</a></div><div class="ttdeci">PxArticulationFlags flags</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:273</div></div>
<div class="ttc" id="structPxTGSSolverContactDesc_html"><div class="ttname"><a href="structPxTGSSolverContactDesc.html">PxTGSSolverContactDesc</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:402</div></div>
<div class="ttc" id="group__foundation_html_gga70160ca5bbafef277790b3e0f12baf38a95e14c69af8048aedd218cd6e96ad50f"><div class="ttname"><a href="group__foundation.html#gga70160ca5bbafef277790b3e0f12baf38a95e14c69af8048aedd218cd6e96ad50f">PxIdentity</a></div><div class="ttdef"><b>Definition:</b> Px.h:84</div></div>
<div class="ttc" id="group__immediatemode_html_gac31250973d5aca117634091dcf184ffc"><div class="ttname"><a href="group__immediatemode.html#gac31250973d5aca117634091dcf184ffc">PxUpdateArticulationBodies</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API void PxUpdateArticulationBodies(Dy::ArticulationV *articulation, const PxReal dt)</div><div class="ttdoc">Updates bodies for a given articulation. </div></div>
<div class="ttc" id="group__immediatemode_html_ga0bae177a8cae93690234bdcb6a29e8d9"><div class="ttname"><a href="group__immediatemode.html#ga0bae177a8cae93690234bdcb6a29e8d9">PxComputeUnconstrainedVelocitiesTGS</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API void PxComputeUnconstrainedVelocitiesTGS(Dy::ArticulationV *articulation, const PxVec3 &amp;gravity, const PxReal dt, const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt)</div><div class="ttdoc">Computes unconstrained velocities for a given articulation. </div></div>
<div class="ttc" id="classPxContactRecorder_html"><div class="ttname"><a href="classPxContactRecorder.html">PxContactRecorder</a></div><div class="ttdoc">Callback class to record contact points produced by immediate::PxGenerateContacts. </div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:72</div></div>
<div class="ttc" id="structPxSolverConstraintPrepDesc_html"><div class="ttname"><a href="structPxSolverConstraintPrepDesc.html">PxSolverConstraintPrepDesc</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:172</div></div>
<div class="ttc" id="structPxRigidBodyData_html_a1bb93cacad36fcc17492afe83718f8c7"><div class="ttname"><a href="structPxRigidBodyData.html#a1bb93cacad36fcc17492afe83718f8c7">PxRigidBodyData::pad</a></div><div class="ttdeci">PxU32 pad</div><div class="ttdoc">96 Padding for 16-byte alignment </div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:66</div></div>
<div class="ttc" id="group__immediatemode_html_ga86ececaefac85fdb67e6e46332eedc75"><div class="ttname"><a href="group__immediatemode.html#ga86ececaefac85fdb67e6e46332eedc75">PxCreateFeatherstoneArticulation</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API Dy::ArticulationV * PxCreateFeatherstoneArticulation(const PxFeatherstoneArticulationData &amp;data)</div><div class="ttdoc">Creates an immediate-mode reduced-coordinate articulation. </div></div>
<div class="ttc" id="structPxSolverBodyData_html"><div class="ttname"><a href="structPxSolverBodyData.html">PxSolverBodyData</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:80</div></div>
<div class="ttc" id="classPxContactRecorder_html_a0438ffde649943dc78286c3e3d0bce86"><div class="ttname"><a href="classPxContactRecorder.html#a0438ffde649943dc78286c3e3d0bce86">PxContactRecorder::~PxContactRecorder</a></div><div class="ttdeci">virtual ~PxContactRecorder()</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:84</div></div>
<div class="ttc" id="structPxArticulationDrive_html"><div class="ttname"><a href="structPxArticulationDrive.html">PxArticulationDrive</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:307</div></div>
<div class="ttc" id="structPxRigidBodyData_html_a99ed9fc3a0742e76ee3410c5e3ef72fc"><div class="ttname"><a href="structPxRigidBodyData.html#a99ed9fc3a0742e76ee3410c5e3ef72fc">PxRigidBodyData::body2World</a></div><div class="ttdeci">PxTransform body2World</div><div class="ttdoc">76 World space transform </div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:61</div></div>
<div class="ttc" id="structPxImmediateConstraint_html_a1492d5f492ca9bd1a59385ca099da1e9"><div class="ttname"><a href="structPxImmediateConstraint.html#a1492d5f492ca9bd1a59385ca099da1e9">PxImmediateConstraint::prep</a></div><div class="ttdeci">PxConstraintSolverPrep prep</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:173</div></div>
<div class="ttc" id="structPxRigidBodyData_html_adbfbf35988384b74c8c9fa4280a7c45b"><div class="ttname"><a href="structPxRigidBodyData.html#adbfbf35988384b74c8c9fa4280a7c45b">PxRigidBodyData::invInertia</a></div><div class="ttdeci">PxVec3 invInertia</div><div class="ttdoc">44 Mass-space inverse interia diagonal vector </div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:59</div></div>
<div class="ttc" id="PxContact_8h_html_ae377550fb9bb881c6514f5fc3a165d1d"><div class="ttname"><a href="PxContact_8h.html#ae377550fb9bb881c6514f5fc3a165d1d">nbContacts</a></div><div class="ttdeci">PxU8 nbContacts</div><div class="ttdef"><b>Definition:</b> PxContact.h:462</div></div>
<div class="ttc" id="group__immediatemode_html_gad77847bba5b58c7439d0c2463643d041"><div class="ttname"><a href="group__immediatemode.html#gad77847bba5b58c7439d0c2463643d041">PxGetMutableLinkData</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API bool PxGetMutableLinkData(const Dy::ArticulationLinkHandle link, PxMutableLinkData &amp;data)</div><div class="ttdoc">Retrieves mutable link data from a link handle. </div></div>
<div class="ttc" id="group__immediatemode_html_gadcdee80ca02f10c0e31a367c7d30ca91"><div class="ttname"><a href="group__immediatemode.html#gadcdee80ca02f10c0e31a367c7d30ca91">PxApplyArticulationCache</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API void PxApplyArticulationCache(Dy::ArticulationV *articulation, PxArticulationCache &amp;cache, PxArticulationCacheFlags flag)</div><div class="ttdoc">Apply the user defined data in the cache to the articulation system. </div></div>
<div class="ttc" id="structPxLinkData_html_abe64420570ef1a902df4f0af83bf840f"><div class="ttname"><a href="structPxLinkData.html#abe64420570ef1a902df4f0af83bf840f">PxLinkData::angularVelocity</a></div><div class="ttdeci">PxVec3 angularVelocity</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:291</div></div>
<div class="ttc" id="namespacephysx_html_a727d2d8426e2a21ebbc522fa65c3f97a"><div class="ttname"><a href="namespacephysx.html#a727d2d8426e2a21ebbc522fa65c3f97a">physx::PxReal</a></div><div class="ttdeci">float PxReal</div><div class="ttdef"><b>Definition:</b> PxSimpleTypes.h:78</div></div>
<div class="ttc" id="structPxTGSSolverBodyData_html"><div class="ttname"><a href="structPxTGSSolverBodyData.html">PxTGSSolverBodyData</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:342</div></div>
<div class="ttc" id="structPxLinkData_html_a6ccf02ecd38295dfba83d943fdb06faa"><div class="ttname"><a href="structPxLinkData.html#a6ccf02ecd38295dfba83d943fdb06faa">PxLinkData::linearVelocity</a></div><div class="ttdeci">PxVec3 linearVelocity</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:290</div></div>
<div class="ttc" id="group__immediatemode_html_gab1ff672bf5a0569d6cc5f137142b1c1d"><div class="ttname"><a href="group__immediatemode.html#gab1ff672bf5a0569d6cc5f137142b1c1d">PxConstructStaticSolverBody</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API void PxConstructStaticSolverBody(const PxTransform &amp;globalPose, PxSolverBodyData &amp;solverBodyData)</div><div class="ttdoc">Constructs a PxSolverBodyData structure for a static body at a given pose. </div></div>
<div class="ttc" id="structPxTGSSolverBodyTxInertia_html"><div class="ttname"><a href="structPxTGSSolverBodyTxInertia.html">PxTGSSolverBodyTxInertia</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:336</div></div>
<div class="ttc" id="Pxc_8h_html_aea189596f11f07c586d4757cc67e8f7f"><div class="ttname"><a href="Pxc_8h.html#aea189596f11f07c586d4757cc67e8f7f">PX_C_EXPORT</a></div><div class="ttdeci">#define PX_C_EXPORT</div><div class="ttdef"><b>Definition:</b> Pxc.h:54</div></div>
<div class="ttc" id="structPxMutableLinkData_html_a582dc48b3713a0375af2b57491d70b7c"><div class="ttname"><a href="structPxMutableLinkData.html#a582dc48b3713a0375af2b57491d70b7c">PxMutableLinkData::maxAngularVelocitySq</a></div><div class="ttdeci">float maxAngularVelocitySq</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:283</div></div>
<div class="ttc" id="group__immediatemode_html_ga8c2749699d2f9e22cfb34ed83a7b80ce"><div class="ttname"><a href="group__immediatemode.html#ga8c2749699d2f9e22cfb34ed83a7b80ce">PxAddArticulationLink</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API Dy::ArticulationLinkHandle PxAddArticulationLink(Dy::ArticulationV *articulation, const PxFeatherstoneArticulationLinkData &amp;data, bool isLastLink=false)</div><div class="ttdoc">Adds a link to an immediate-mode reduced-coordinate articulation. The articulation becomes the link&amp;#39;s...</div></div>
<div class="ttc" id="structPxMutableLinkData_html"><div class="ttname"><a href="structPxMutableLinkData.html">PxMutableLinkData</a></div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:276</div></div>
<div class="ttc" id="structPxRigidBodyData_html_aa523e1704f34568a599f4744f0b6cbbc"><div class="ttname"><a href="structPxRigidBodyData.html#aa523e1704f34568a599f4744f0b6cbbc">PxRigidBodyData::maxAngularVelocitySq</a></div><div class="ttdeci">PxReal maxAngularVelocitySq</div><div class="ttdoc">92 Squared maximum angular velocity </div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:65</div></div>
<div class="ttc" id="structPxArticulationMotion_html_af04dcaf188047e88858bb7352bdfe879"><div class="ttname"><a href="structPxArticulationMotion.html#af04dcaf188047e88858bb7352bdfe879">PxArticulationMotion::Enum</a></div><div class="ttdeci">Enum</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:255</div></div>
<div class="ttc" id="structPxRigidBodyData_html_a94c9d8403adad700ceeffa7005991d7e"><div class="ttname"><a href="structPxRigidBodyData.html#a94c9d8403adad700ceeffa7005991d7e">PxRigidBodyData::angularDamping</a></div><div class="ttdeci">PxReal angularDamping</div><div class="ttdoc">84 Angular damping coefficient </div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:63</div></div>
<div class="ttc" id="group__immediatemode_html_ga6c5323528d0de709b168178bf9ddb0ac"><div class="ttname"><a href="group__immediatemode.html#ga6c5323528d0de709b168178bf9ddb0ac">PxCreateJointConstraintsTGS</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraintsTGS(PxConstraintBatchHeader *batchHeaders, const PxU32 nbHeaders, PxTGSSolverConstraintPrepDesc *jointDescs, PxConstraintAllocator &amp;allocator, const PxReal dt, const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt, const PxReal lengthScale)</div><div class="ttdoc">Creates a set of joint constraint blocks. Note that, depending the results of PxBatchConstraints, the batchHeader may refer to up to 4 solverConstraintDescs. </div></div>
<div class="ttc" id="classPxConstraintAllocator_html"><div class="ttname"><a href="classPxConstraintAllocator.html">PxConstraintAllocator</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:216</div></div>
<div class="ttc" id="group__physics_html_ga4d1a71cd5d63cff2bbd97d8bc8899708"><div class="ttname"><a href="group__physics.html#ga4d1a71cd5d63cff2bbd97d8bc8899708">PxConstraintSolverPrep</a></div><div class="ttdeci">PxU32(* PxConstraintSolverPrep)(Px1DConstraint *constraints, PxVec3 &amp;bodyAWorldOffset, PxU32 maxConstraints, PxConstraintInvMassScale &amp;invMassScale, const void *constantBlock, const PxTransform &amp;bodyAToWorld, const PxTransform &amp;bodyBToWorld, bool useExtendedLimits, PxVec3 &amp;cAtW, PxVec3 &amp;cBtW)</div><div class="ttdef"><b>Definition:</b> PxConstraintDesc.h:228</div></div>
<div class="ttc" id="group__immediatemode_html_ga9c55ff4fd977b9c0e3e0c629f5b32326"><div class="ttname"><a href="group__immediatemode.html#ga9c55ff4fd977b9c0e3e0c629f5b32326">PxCreateJointConstraintsWithImmediateShaders</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraintsWithImmediateShaders(PxConstraintBatchHeader *batchHeaders, const PxU32 nbBatchHeaders, PxImmediateConstraint *constraints, PxSolverConstraintPrepDesc *jointDescs, PxConstraintAllocator &amp;allocator, const PxReal dt, const PxReal invDt)</div><div class="ttdoc">Creates a set of joint constraint blocks. This function runs joint shaders defined inside PxImmediate...</div></div>
<div class="ttc" id="group__common_html_ga4636d12a5a01930fa258136f3f93366f"><div class="ttname"><a href="group__common.html#ga4636d12a5a01930fa258136f3f93366f">PX_PHYSX_CORE_API</a></div><div class="ttdeci">#define PX_PHYSX_CORE_API</div><div class="ttdef"><b>Definition:</b> PxPhysXCommonConfig.h:59</div></div>
<div class="ttc" id="structPxRigidBodyData_html_afe4e0a693288590b7ce8383bc3e2cd79"><div class="ttname"><a href="structPxRigidBodyData.html#afe4e0a693288590b7ce8383bc3e2cd79">PxRigidBodyData::maxLinearVelocitySq</a></div><div class="ttdeci">PxReal maxLinearVelocitySq</div><div class="ttdoc">88 Squared maximum linear velocity </div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:64</div></div>
<div class="ttc" id="group__immediatemode_html_ga81189e2221bba32ed064faf2769d9844"><div class="ttname"><a href="group__immediatemode.html#ga81189e2221bba32ed064faf2769d9844">PxCreateContactConstraintsTGS</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateContactConstraintsTGS(PxConstraintBatchHeader *batchHeaders, const PxU32 nbHeaders, PxTGSSolverContactDesc *contactDescs, PxConstraintAllocator &amp;allocator, const PxReal invDt, const PxReal invTotalDt, const PxReal bounceThreshold, const PxReal frictionOffsetThreshold, const PxReal correlationDistance)</div><div class="ttdoc">Creates a set of contact constraint blocks. Note that, depending the results of PxBatchConstraints, each batchHeader may refer to up to 4 solverConstraintDescs. This function will allocate both constraint and friction patch data via the PxConstraintAllocator provided. Constraint data is only valid until PxSolveConstraints has completed. Friction data is to be retained and provided by the application for friction correlation. </div></div>
<div class="ttc" id="structPxMutableLinkData_html_a004cfc3f32c789b2dd5610294f3e4f58"><div class="ttname"><a href="structPxMutableLinkData.html#a004cfc3f32c789b2dd5610294f3e4f58">PxMutableLinkData::disableGravity</a></div><div class="ttdeci">bool disableGravity</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:284</div></div>
<div class="ttc" id="group__immediatemode_html_ga5189b5d63b22e3d7e1da1d94aa6854b7"><div class="ttname"><a href="group__immediatemode.html#ga5189b5d63b22e3d7e1da1d94aa6854b7">PxReleaseArticulationCache</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API void PxReleaseArticulationCache(PxArticulationCache &amp;cache)</div><div class="ttdoc">Release an articulation cache. </div></div>
<div class="ttc" id="group__immediatemode_html_ga02dd00aca33ee58a65f32472719e9b07"><div class="ttname"><a href="group__immediatemode.html#ga02dd00aca33ee58a65f32472719e9b07">PxCreateContactConstraints</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateContactConstraints(PxConstraintBatchHeader *batchHeaders, const PxU32 nbHeaders, PxSolverContactDesc *contactDescs, PxConstraintAllocator &amp;allocator, const PxReal invDt, const PxReal bounceThreshold, const PxReal frictionOffsetThreshold, const PxReal correlationDistance)</div><div class="ttdoc">Creates a set of contact constraint blocks. Note that, depending the results of PxBatchConstraints, each batchHeader may refer to up to 4 solverConstraintDescs. This function will allocate both constraint and friction patch data via the PxConstraintAllocator provided. Constraint data is only valid until PxSolveConstraints has completed. Friction data is to be retained and provided by the application for friction correlation. </div></div>
<div class="ttc" id="classPxGeometry_html"><div class="ttname"><a href="classPxGeometry.html">PxGeometry</a></div><div class="ttdoc">A geometry object. </div><div class="ttdef"><b>Definition:</b> PxGeometry.h:75</div></div>
<div class="ttc" id="PxPhysXConfig_8h_html"><div class="ttname"><a href="PxPhysXConfig_8h.html">PxPhysXConfig.h</a></div></div>
<div class="ttc" id="group__immediatemode_html_ga5df3edcbf7b639900668b49ff50eda22"><div class="ttname"><a href="group__immediatemode.html#ga5df3edcbf7b639900668b49ff50eda22">PxReleaseArticulation</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API void PxReleaseArticulation(Dy::ArticulationV *articulation)</div><div class="ttdoc">Releases an immediate-mode reduced-coordinate articulation. </div></div>
<div class="ttc" id="structPxArticulationJointData_html_ae471c64de7b058b0ed26e9eb476009a2"><div class="ttname"><a href="structPxArticulationJointData.html#ae471c64de7b058b0ed26e9eb476009a2">PxArticulationJointData::childPose</a></div><div class="ttdeci">PxTransform childPose</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:256</div></div>
<div class="ttc" id="group__immediatemode_html_gae59ded2b77c594a690169036785f2ef5"><div class="ttname"><a href="group__immediatemode.html#gae59ded2b77c594a690169036785f2ef5">PxSolveConstraints</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API void PxSolveConstraints(const PxConstraintBatchHeader *batchHeaders, const PxU32 nbBatchHeaders, const PxSolverConstraintDesc *solverConstraintDescs, const PxSolverBody *solverBodies, PxVec3 *linearMotionVelocity, PxVec3 *angularMotionVelocity, const PxU32 nbSolverBodies, const PxU32 nbPositionIterations, const PxU32 nbVelocityIterations, const float dt=0.0f, const float invDt=0.0f, const PxU32 nbSolverArticulations=0, Dy::ArticulationV **solverArticulations=NULL)</div><div class="ttdoc">Iteratively solves the set of constraints defined by the provided PxConstraintBatchHeader and PxSolve...</div></div>
<div class="ttc" id="classPxArticulationCache_html"><div class="ttname"><a href="classPxArticulationCache.html">PxArticulationCache</a></div><div class="ttdef"><b>Definition:</b> PxArticulationReducedCoordinate.h:77</div></div>
<div class="ttc" id="group__immediatemode_html_ga56e360f21e02eeed788a58782e77316a"><div class="ttname"><a href="group__immediatemode.html#ga56e360f21e02eeed788a58782e77316a">PxConstructSolverBodies</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API void PxConstructSolverBodies(const PxRigidBodyData *inRigidData, PxSolverBodyData *outSolverBodyData, const PxU32 nbBodies, const PxVec3 &amp;gravity, const PxReal dt)</div><div class="ttdoc">Constructs a PxSolverBodyData structure based on rigid body properties. Applies gravity, damping and clamps maximum velocity. </div></div>
<div class="ttc" id="classPxCacheAllocator_html"><div class="ttname"><a href="classPxCacheAllocator.html">PxCacheAllocator</a></div><div class="ttdef"><b>Definition:</b> PxCollisionDefs.h:67</div></div>
<div class="ttc" id="structPxFeatherstoneArticulationLinkData_html_a965e0c54af422172afa52541cb2535b7"><div class="ttname"><a href="structPxFeatherstoneArticulationLinkData.html#a965e0c54af422172afa52541cb2535b7">PxFeatherstoneArticulationLinkData::parent</a></div><div class="ttdeci">Dy::ArticulationLinkHandle parent</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:333</div></div>
<div class="ttc" id="structPxMutableLinkData_html_a71f45bc5834d96a08c90e2cf369f62ab"><div class="ttname"><a href="structPxMutableLinkData.html#a71f45bc5834d96a08c90e2cf369f62ab">PxMutableLinkData::linearDamping</a></div><div class="ttdeci">float linearDamping</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:280</div></div>
<div class="ttc" id="structPxMutableLinkData_html_a68d474233833a0f0ba084dcb61e5226c"><div class="ttname"><a href="structPxMutableLinkData.html#a68d474233833a0f0ba084dcb61e5226c">PxMutableLinkData::angularDamping</a></div><div class="ttdeci">float angularDamping</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:281</div></div>
<div class="ttc" id="group__immediatemode_html_gab92fb9ab349962c5271c9644d3ec9f71"><div class="ttname"><a href="group__immediatemode.html#gab92fb9ab349962c5271c9644d3ec9f71">PxCreateJointConstraintsWithShaders</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraintsWithShaders(PxConstraintBatchHeader *batchHeaders, const PxU32 nbBatchHeaders, PxConstraint **constraints, PxSolverConstraintPrepDesc *jointDescs, PxConstraintAllocator &amp;allocator, const PxReal dt, const PxReal invDt)</div><div class="ttdoc">Creates a set of joint constraint blocks. This function runs joint shaders defined inside PxConstrain...</div></div>
<div class="ttc" id="structPxTGSSolverBodyVel_html"><div class="ttname"><a href="structPxTGSSolverBodyVel.html">PxTGSSolverBodyVel</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:314</div></div>
<div class="ttc" id="group__immediatemode_html_gaa29d46bee46ce200c9e8a2a6f353c0a1"><div class="ttname"><a href="group__immediatemode.html#gaa29d46bee46ce200c9e8a2a6f353c0a1">PxCreateArticulationCache</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API PxArticulationCache * PxCreateArticulationCache(Dy::ArticulationV *articulation)</div><div class="ttdoc">Creates an articulation cache. </div></div>
<div class="ttc" id="structPxFeatherstoneArticulationJointData_html"><div class="ttname"><a href="structPxFeatherstoneArticulationJointData.html">PxFeatherstoneArticulationJointData</a></div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:259</div></div>
<div class="ttc" id="group__immediatemode_html_ga5d5ba6074b5169c269d7e4c56ac0467d"><div class="ttname"><a href="group__immediatemode.html#ga5d5ba6074b5169c269d7e4c56ac0467d">PxCopyInternalStateToArticulationCache</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API void PxCopyInternalStateToArticulationCache(Dy::ArticulationV *articulation, PxArticulationCache &amp;cache, PxArticulationCacheFlags flag)</div><div class="ttdoc">Copy the internal data of the articulation to the cache. </div></div>
<div class="ttc" id="group__immediatemode_html_ga167edbc51a6406fe313f2eaade4bc9d2"><div class="ttname"><a href="group__immediatemode.html#ga167edbc51a6406fe313f2eaade4bc9d2">PxUpdateArticulationBodiesTGS</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API void PxUpdateArticulationBodiesTGS(Dy::ArticulationV *articulation, const PxReal dt)</div><div class="ttdoc">Updates bodies for a given articulation. </div></div>
<div class="ttc" id="structPxFeatherstoneArticulationJointData_html_a4af74cf4f2211f48e01fea26c1e7caed"><div class="ttname"><a href="structPxFeatherstoneArticulationJointData.html#a4af74cf4f2211f48e01fea26c1e7caed">PxFeatherstoneArticulationJointData::type</a></div><div class="ttdeci">PxArticulationJointType::Enum type</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:261</div></div>
<div class="ttc" id="group__immediatemode_html_ga54ca8e8099a543250c31f23452e7bb07"><div class="ttname"><a href="group__immediatemode.html#ga54ca8e8099a543250c31f23452e7bb07">PxGetLinkData</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API bool PxGetLinkData(const Dy::ArticulationLinkHandle link, PxLinkData &amp;data)</div><div class="ttdoc">Retrieves non-mutable link data from a link handle. The data here is computed by the articulation cod...</div></div>
<div class="ttc" id="PxArticulationReducedCoordinate_8h_html"><div class="ttname"><a href="PxArticulationReducedCoordinate_8h.html">PxArticulationReducedCoordinate.h</a></div></div>
<div class="ttc" id="structPxLinkData_html_a87a6e397a82df6c18c2879f899994bf4"><div class="ttname"><a href="structPxLinkData.html#a87a6e397a82df6c18c2879f899994bf4">PxLinkData::pose</a></div><div class="ttdeci">PxTransform pose</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:289</div></div>
<div class="ttc" id="structPxFeatherstoneArticulationLinkData_html_aebb0552bf75fa367ca80cadfce32361b"><div class="ttname"><a href="structPxFeatherstoneArticulationLinkData.html#aebb0552bf75fa367ca80cadfce32361b">PxFeatherstoneArticulationLinkData::initData</a></div><div class="ttdeci">void initData()</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:298</div></div>
<div class="ttc" id="group__immediatemode_html_ga8db0a2ecb56789d5311172ce228b7740"><div class="ttname"><a href="group__immediatemode.html#ga8db0a2ecb56789d5311172ce228b7740">PxCreateJointConstraints</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraints(PxConstraintBatchHeader *batchHeaders, const PxU32 nbHeaders, PxSolverConstraintPrepDesc *jointDescs, PxConstraintAllocator &amp;allocator, const PxReal dt, const PxReal invDt)</div><div class="ttdoc">Creates a set of joint constraint blocks. Note that, depending the results of PxBatchConstraints, the batchHeader may refer to up to 4 solverConstraintDescs. </div></div>
<div class="ttc" id="structPxFeatherstoneArticulationJointData_html_a08dafec0cdc749b8dbc6d4a1dd5ebe59"><div class="ttname"><a href="structPxFeatherstoneArticulationJointData.html#a08dafec0cdc749b8dbc6d4a1dd5ebe59">PxFeatherstoneArticulationJointData::maxJointVelocity</a></div><div class="ttdeci">PxReal maxJointVelocity</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:268</div></div>
<div class="ttc" id="structPxRigidBodyData_html_a4edc039e489d03db2066b993cacf5c8e"><div class="ttname"><a href="structPxRigidBodyData.html#a4edc039e489d03db2066b993cacf5c8e">PxRigidBodyData::invMass</a></div><div class="ttdeci">PxReal invMass</div><div class="ttdoc">16 Inverse mass </div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:56</div></div>
<div class="ttc" id="group__immediatemode_html_ga404f7b347df78a632073246c46c173ec"><div class="ttname"><a href="group__immediatemode.html#ga404f7b347df78a632073246c46c173ec">PxSetMutableLinkData</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API bool PxSetMutableLinkData(Dy::ArticulationLinkHandle link, const PxMutableLinkData &amp;data)</div><div class="ttdoc">Sets mutable link data for given link. </div></div>
<div class="ttc" id="classPxTransform_html"><div class="ttname"><a href="classPxTransform.html">PxTransform</a></div><div class="ttdoc">class representing a rigid euclidean transform as a quaternion and a vector </div><div class="ttdef"><b>Definition:</b> PxTransform.h:48</div></div>
<div class="ttc" id="classPxConstraint_html"><div class="ttname"><a href="classPxConstraint.html">PxConstraint</a></div><div class="ttdoc">A plugin class for implementing constraints. </div><div class="ttdef"><b>Definition:</b> PxConstraint.h:108</div></div>
<div class="ttc" id="structPxSolverContactDesc_html"><div class="ttname"><a href="structPxSolverContactDesc.html">PxSolverContactDesc</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:188</div></div>
<div class="ttc" id="structPxRigidBodyData_html_a595b23f708d54d34a433f58e9e53da99"><div class="ttname"><a href="structPxRigidBodyData.html#a595b23f708d54d34a433f58e9e53da99">PxRigidBodyData::angularVelocity</a></div><div class="ttdeci">PxVec3 angularVelocity</div><div class="ttdoc">28 Angular velocity </div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:57</div></div>
<div class="ttc" id="structPxRigidBodyData_html_a8623352bac79ed126892a104e1aab68d"><div class="ttname"><a href="structPxRigidBodyData.html#a8623352bac79ed126892a104e1aab68d">PxRigidBodyData::linearDamping</a></div><div class="ttdeci">PxReal linearDamping</div><div class="ttdoc">80 Linear damping coefficient </div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:62</div></div>
<div class="ttc" id="group__immediatemode_html_ga2dc9fa88d851b81cb15e382060e27ec7"><div class="ttname"><a href="group__immediatemode.html#ga2dc9fa88d851b81cb15e382060e27ec7">PxConstructStaticSolverBodyTGS</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API void PxConstructStaticSolverBodyTGS(const PxTransform &amp;globalPose, PxTGSSolverBodyVel &amp;solverBodyVel, PxTGSSolverBodyTxInertia &amp;solverBodyTxInertia, PxTGSSolverBodyData &amp;solverBodyData)</div><div class="ttdoc">Constructs a PxSolverBodyData structure for a static body at a given pose. </div></div>
<div class="ttc" id="group__immediatemode_html_ga4371afa7be6b3dfd04fd94491b7ccf1e"><div class="ttname"><a href="group__immediatemode.html#ga4371afa7be6b3dfd04fd94491b7ccf1e">PxGetLinkIndex</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API PxU32 PxGetLinkIndex(const Dy::ArticulationLinkHandle link)</div><div class="ttdoc">Retrieves link index from a link handle. </div></div>
<div class="ttc" id="structPxImmediateConstraint_html"><div class="ttname"><a href="structPxImmediateConstraint.html">PxImmediateConstraint</a></div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:171</div></div>
<div class="ttc" id="group__immediatemode_html_ga02aa17b8f928f23a16520036c572e862"><div class="ttname"><a href="group__immediatemode.html#ga02aa17b8f928f23a16520036c572e862">PxBatchConstraints</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API PxU32 PxBatchConstraints(const PxSolverConstraintDesc *solverConstraintDescs, const PxU32 nbConstraints, PxSolverBody *solverBodies, const PxU32 nbBodies, PxConstraintBatchHeader *outBatchHeaders, PxSolverConstraintDesc *outOrderedConstraintDescs, Dy::ArticulationV **articulations=NULL, const PxU32 nbArticulations=0)</div><div class="ttdoc">Groups together sets of independent PxSolverConstraintDesc objects to be solved using SIMD SOA approa...</div></div>
<div class="ttc" id="structPxFeatherstoneArticulationJointData_html_a10cac5a3526f11598bf122f9e3d2bc61"><div class="ttname"><a href="structPxFeatherstoneArticulationJointData.html#a10cac5a3526f11598bf122f9e3d2bc61">PxFeatherstoneArticulationJointData::frictionCoefficient</a></div><div class="ttdeci">PxReal frictionCoefficient</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:267</div></div>
<div class="ttc" id="structPxSolverBody_html"><div class="ttname"><a href="structPxSolverBody.html">PxSolverBody</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:63</div></div>
<div class="ttc" id="structPxFeatherstoneArticulationLinkData_html_a0ec3b22259fd3db5b765bf68b18b28af"><div class="ttname"><a href="structPxFeatherstoneArticulationLinkData.html#a0ec3b22259fd3db5b765bf68b18b28af">PxFeatherstoneArticulationLinkData::pose</a></div><div class="ttdeci">PxTransform pose</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:332</div></div>
<div class="ttc" id="group__immediatemode_html_ga8bdb9d1d481fad7a05c3dc9212c4f734"><div class="ttname"><a href="group__immediatemode.html#ga8bdb9d1d481fad7a05c3dc9212c4f734">PxGetJointData</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API bool PxGetJointData(const Dy::ArticulationLinkHandle link, PxFeatherstoneArticulationJointData &amp;data)</div><div class="ttdoc">Retrieves joint data from a link handle. </div></div>
<div class="ttc" id="structPxFeatherstoneArticulationLinkData_html"><div class="ttname"><a href="structPxFeatherstoneArticulationLinkData.html">PxFeatherstoneArticulationLinkData</a></div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:294</div></div>
<div class="ttc" id="structPxCache_html"><div class="ttname"><a href="structPxCache.html">PxCache</a></div><div class="ttdoc">A structure to cache contact information produced by LL contact gen functions. </div><div class="ttdef"><b>Definition:</b> PxCollisionDefs.h:49</div></div>
<div class="ttc" id="structPxMutableLinkData_html_af558b8f57726dd451ad61d517bf4e2d0"><div class="ttname"><a href="structPxMutableLinkData.html#af558b8f57726dd451ad61d517bf4e2d0">PxMutableLinkData::maxLinearVelocitySq</a></div><div class="ttdeci">float maxLinearVelocitySq</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:282</div></div>
<div class="ttc" id="group__immediatemode_html_gad743f4cb0eef3d3b166bfa0ff548ca5f"><div class="ttname"><a href="group__immediatemode.html#gad743f4cb0eef3d3b166bfa0ff548ca5f">PxIntegrateSolverBodies</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API void PxIntegrateSolverBodies(PxSolverBodyData *solverBodyData, PxSolverBody *solverBody, const PxVec3 *linearMotionVelocity, const PxVec3 *angularMotionState, const PxU32 nbBodiesToIntegrate, const PxReal dt)</div><div class="ttdoc">Integrates a rigid body, returning the new velocities and transforms. After this function has been ca...</div></div>
<div class="ttc" id="structPxRigidBodyData_html"><div class="ttname"><a href="structPxRigidBodyData.html">PxRigidBodyData</a></div><div class="ttdoc">Structure to store rigid body properties. </div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:53</div></div>
<div class="ttc" id="structPxMutableLinkData_html_a6638557880cfc10acb70b900eef8c5df"><div class="ttname"><a href="structPxMutableLinkData.html#a6638557880cfc10acb70b900eef8c5df">PxMutableLinkData::inverseMass</a></div><div class="ttdeci">float inverseMass</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:279</div></div>
<div class="ttc" id="group__immediatemode_html_gae81a4356d18a396730d81d94f28bbd0e"><div class="ttname"><a href="group__immediatemode.html#gae81a4356d18a396730d81d94f28bbd0e">PxGetAllLinkData</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API PxU32 PxGetAllLinkData(const Dy::ArticulationV *articulation, PxLinkData *data)</div><div class="ttdoc">Retrieves non-mutable link data from an articulation handle (all links). The data here is computed by...</div></div>
<div class="ttc" id="structPxArticulationMotion_html_af04dcaf188047e88858bb7352bdfe879af640457f343a3cd57412d5aedf2b6808"><div class="ttname"><a href="structPxArticulationMotion.html#af04dcaf188047e88858bb7352bdfe879af640457f343a3cd57412d5aedf2b6808">PxArticulationMotion::eLOCKED</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:257</div></div>
<div class="ttc" id="group__immediatemode_html_gaee273e15ba5dbdb78948da2d2c64dc7f"><div class="ttname"><a href="group__immediatemode.html#gaee273e15ba5dbdb78948da2d2c64dc7f">PxGetLinkArticulation</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API Dy::ArticulationV * PxGetLinkArticulation(const Dy::ArticulationLinkHandle link)</div><div class="ttdoc">Retrieves owner/parent articulation handle from a link handle. </div></div>
<div class="ttc" id="PxSolverDefs_8h_html"><div class="ttname"><a href="PxSolverDefs_8h.html">PxSolverDefs.h</a></div></div>
<div class="ttc" id="group__foundation_html_ga95024dd88a7efd73c060616238ccbe8a"><div class="ttname"><a href="group__foundation.html#ga95024dd88a7efd73c060616238ccbe8a">PX_ALIGN</a></div><div class="ttdeci">#define PX_ALIGN(alignment, decl)</div><div class="ttdef"><b>Definition:</b> PxPreprocessor.h:408</div></div>
<div class="ttc" id="structPxArticulationAxis_html_a5c835f1d727bfc738d1fc7a7595d7395a09384f4a095731741d93530048614de7"><div class="ttname"><a href="structPxArticulationAxis.html#a5c835f1d727bfc738d1fc7a7595d7395a09384f4a095731741d93530048614de7">PxArticulationAxis::eCOUNT</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:247</div></div>
<div class="ttc" id="structPxArticulationJointType_html_a0df5bb8217acae97e63421bedbfe0a0b"><div class="ttname"><a href="structPxArticulationJointType.html#a0df5bb8217acae97e63421bedbfe0a0b">PxArticulationJointType::Enum</a></div><div class="ttdeci">Enum</div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:268</div></div>
<div class="ttc" id="group__immediatemode_html_ga78e8a4101cc5ede158fd8ae7b9a9d13b"><div class="ttname"><a href="group__immediatemode.html#ga78e8a4101cc5ede158fd8ae7b9a9d13b">PxBatchConstraintsTGS</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API PxU32 PxBatchConstraintsTGS(const PxSolverConstraintDesc *solverConstraintDescs, const PxU32 nbConstraints, PxTGSSolverBodyVel *solverBodies, const PxU32 nbBodies, PxConstraintBatchHeader *outBatchHeaders, PxSolverConstraintDesc *outOrderedConstraintDescs, Dy::ArticulationV **articulations=NULL, const PxU32 nbArticulations=0)</div><div class="ttdoc">Groups together sets of independent PxSolverConstraintDesc objects to be solved using SIMD SOA approa...</div></div>
<div class="ttc" id="group__immediatemode_html_ga43ee6393438e91aa05bb2790559104b7"><div class="ttname"><a href="group__immediatemode.html#ga43ee6393438e91aa05bb2790559104b7">PxGenerateContacts</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API bool PxGenerateContacts(const PxGeometry *const *geom0, const PxGeometry *const *geom1, const PxTransform *pose0, const PxTransform *pose1, PxCache *contactCache, const PxU32 nbPairs, PxContactRecorder &amp;contactRecorder, const PxReal contactDistance, const PxReal meshContactMargin, const PxReal toleranceLength, PxCacheAllocator &amp;allocator)</div><div class="ttdoc">Performs contact generation for a given pair of geometries at the specified poses. Produced contacts are stored in the provided Gu::ContactBuffer. Information is cached in PxCache structure to accelerate future contact generation between pairs. This cache data is valid only as long as the memory provided by PxCacheAllocator has not been released/re-used. Recommendation is to retain that data for a single simulation frame, discarding cached data after 2 frames. If the cached memory has been released/re-used prior to the corresponding pair having contact generation performed again, it is the application&amp;#39;s responsibility to reset the PxCache. </div></div>
<div class="ttc" id="structPxLinkData_html"><div class="ttname"><a href="structPxLinkData.html">PxLinkData</a></div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:287</div></div>
<div class="ttc" id="classPxFlags_html"><div class="ttname"><a href="classPxFlags.html">PxFlags&lt; PxArticulationFlag::Enum, PxU8 &gt;</a></div></div>
<div class="ttc" id="group__immediatemode_html_ga29ab413fa60db236c4d9ef93081f6928"><div class="ttname"><a href="group__immediatemode.html#ga29ab413fa60db236c4d9ef93081f6928">PxSetJointData</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API bool PxSetJointData(Dy::ArticulationLinkHandle link, const PxFeatherstoneArticulationJointData &amp;data)</div><div class="ttdoc">Sets joint data for given link. </div></div>
<div class="ttc" id="structPxSolverConstraintDesc_html"><div class="ttname"><a href="structPxSolverConstraintDesc.html">PxSolverConstraintDesc</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:111</div></div>
<div class="ttc" id="group__immediatemode_html_gabd1a23fee83c2fab66822275bbcf50bb"><div class="ttname"><a href="group__immediatemode.html#gabd1a23fee83c2fab66822275bbcf50bb">PxIntegrateSolverBodiesTGS</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API void PxIntegrateSolverBodiesTGS(PxTGSSolverBodyVel *solverBody, PxTGSSolverBodyTxInertia *txInertia, PxTransform *poses, const PxU32 nbBodiesToIntegrate, const PxReal dt)</div><div class="ttdoc">Integrates a rigid body, returning the new velocities and transforms. After this function has been ca...</div></div>
<div class="ttc" id="structPxFeatherstoneArticulationLinkData_html_acdc95be4ba4780c781a51e996941c0d6"><div class="ttname"><a href="structPxFeatherstoneArticulationLinkData.html#acdc95be4ba4780c781a51e996941c0d6">PxFeatherstoneArticulationLinkData::PxFeatherstoneArticulationLinkData</a></div><div class="ttdeci">PxFeatherstoneArticulationLinkData()</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:296</div></div>
<div class="ttc" id="group__immediatemode_html_ga4d9bc901669de439d061962e7ab9509e"><div class="ttname"><a href="group__immediatemode.html#ga4d9bc901669de439d061962e7ab9509e">PxComputeUnconstrainedVelocities</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API void PxComputeUnconstrainedVelocities(Dy::ArticulationV *articulation, const PxVec3 &amp;gravity, const PxReal dt)</div><div class="ttdoc">Computes unconstrained velocities for a given articulation. </div></div>
<div class="ttc" id="structPxRigidBodyData_html_a2e1756608c49188883e670d0318dcc06"><div class="ttname"><a href="structPxRigidBodyData.html#a2e1756608c49188883e670d0318dcc06">PxRigidBodyData::maxDepenetrationVelocity</a></div><div class="ttdeci">PxReal maxDepenetrationVelocity</div><div class="ttdoc">32 Maximum de-penetration velocity </div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:58</div></div>
<div class="ttc" id="group__foundation_html_gacce5749db3dcfb916e98c253374264ed"><div class="ttname"><a href="group__foundation.html#gacce5749db3dcfb916e98c253374264ed">PxU32</a></div><div class="ttdeci">uint32_t PxU32</div><div class="ttdef"><b>Definition:</b> Px.h:48</div></div>
<div class="ttc" id="group__immediatemode_html_gab61d264d8d74cb67dbbe06b041bde7bd"><div class="ttname"><a href="group__immediatemode.html#gab61d264d8d74cb67dbbe06b041bde7bd">PxCreateJointConstraintsWithImmediateShadersTGS</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraintsWithImmediateShadersTGS(PxConstraintBatchHeader *batchHeaders, const PxU32 nbBatchHeaders, PxImmediateConstraint *constraints, PxTGSSolverConstraintPrepDesc *jointDescs, PxConstraintAllocator &amp;allocator, const PxReal dt, const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt, const PxReal lengthScale)</div><div class="ttdoc">Creates a set of joint constraint blocks. This function runs joint shaders defined inside PxImmediate...</div></div>
<div class="ttc" id="structPxTGSSolverConstraintPrepDesc_html"><div class="ttname"><a href="structPxTGSSolverConstraintPrepDesc.html">PxTGSSolverConstraintPrepDesc</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:383</div></div>
<div class="ttc" id="group__immediatemode_html_ga6d8ad8d1a6156da1f4473d4ec4922016"><div class="ttname"><a href="group__immediatemode.html#ga6d8ad8d1a6156da1f4473d4ec4922016">PxRegisterImmediateArticulations</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API void PxRegisterImmediateArticulations()</div><div class="ttdoc">Register articulation-related solver functions. This is equivalent to PxRegisterArticulationsReducedC...</div></div>
<div class="ttc" id="structPxArticulationJointData_html_acddf7deb0879288fbc9428ee84b7f6c6"><div class="ttname"><a href="structPxArticulationJointData.html#acddf7deb0879288fbc9428ee84b7f6c6">PxArticulationJointData::parentPose</a></div><div class="ttdeci">PxTransform parentPose</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:255</div></div>
<div class="ttc" id="structPxArticulationJointType_html_a0df5bb8217acae97e63421bedbfe0a0baa3b41bcb6b6b318f64d2dfb3073f277e"><div class="ttname"><a href="structPxArticulationJointType.html#a0df5bb8217acae97e63421bedbfe0a0baa3b41bcb6b6b318f64d2dfb3073f277e">PxArticulationJointType::eUNDEFINED</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:274</div></div>
<div class="ttc" id="structPxArticulationDriveType_html_aee32bd489c0bda0888ec2a13cdd7fc66a05c2a66b7f4f1cbaa672ee7f0934d698"><div class="ttname"><a href="structPxArticulationDriveType.html#aee32bd489c0bda0888ec2a13cdd7fc66a05c2a66b7f4f1cbaa672ee7f0934d698">PxArticulationDriveType::eFORCE</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:294</div></div>
<div class="ttc" id="group__immediatemode_html_ga650d7b45abd5412722bd0f226df3d246"><div class="ttname"><a href="group__immediatemode.html#ga650d7b45abd5412722bd0f226df3d246">PxSolveConstraintsTGS</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API void PxSolveConstraintsTGS(const PxConstraintBatchHeader *batchHeaders, const PxU32 nbBatchHeaders, const PxSolverConstraintDesc *solverConstraintDescs, PxTGSSolverBodyVel *solverBodies, PxTGSSolverBodyTxInertia *txInertias, const PxU32 nbSolverBodies, const PxU32 nbPositionIterations, const PxU32 nbVelocityIterations, const float dt, const float invDt, const PxU32 nbSolverArticulations, Dy::ArticulationV **solverArticulations)</div><div class="ttdoc">Iteratively solves the set of constraints defined by the provided PxConstraintBatchHeader and PxSolve...</div></div>
<div class="ttc" id="structPxFeatherstoneArticulationLinkData_html_ac1ddbf727738cf710737347fe20614bc"><div class="ttname"><a href="structPxFeatherstoneArticulationLinkData.html#ac1ddbf727738cf710737347fe20614bc">PxFeatherstoneArticulationLinkData::inboundJoint</a></div><div class="ttdeci">PxFeatherstoneArticulationJointData inboundJoint</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:329</div></div>
<div class="ttc" id="group__immediatemode_html_gaaa4db837c3284147da8c85356d969258"><div class="ttname"><a href="group__immediatemode.html#gaaa4db837c3284147da8c85356d969258">PxConstructSolverBodiesTGS</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API void PxConstructSolverBodiesTGS(const PxRigidBodyData *inRigidData, PxTGSSolverBodyVel *outSolverBodyVel, PxTGSSolverBodyTxInertia *outSolverBodyTxInertia, PxTGSSolverBodyData *outSolverBodyData, const PxU32 nbBodies, const PxVec3 &amp;gravity, const PxReal dt)</div><div class="ttdoc">Constructs a PxSolverBodyData structure based on rigid body properties. Applies gravity, damping and clamps maximum velocity. </div></div>
<div class="ttc" id="structPxMutableLinkData_html_a2363028891109e1cf9ef254e454ce198"><div class="ttname"><a href="structPxMutableLinkData.html#a2363028891109e1cf9ef254e454ce198">PxMutableLinkData::inverseInertia</a></div><div class="ttdeci">PxVec3 inverseInertia</div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:278</div></div>
<div class="ttc" id="group__immediatemode_html_ga629b4a4c51411cad67e91991e74a1fa9"><div class="ttname"><a href="group__immediatemode.html#ga629b4a4c51411cad67e91991e74a1fa9">PxCreateJointConstraintsWithShadersTGS</a></div><div class="ttdeci">PX_C_EXPORT PX_PHYSX_CORE_API bool PxCreateJointConstraintsWithShadersTGS(PxConstraintBatchHeader *batchHeaders, const PxU32 nbBatchHeaders, PxConstraint **constraints, PxTGSSolverConstraintPrepDesc *jointDescs, PxConstraintAllocator &amp;allocator, const PxReal dt, const PxReal totalDt, const PxReal invDt, const PxReal invTotalDt, const PxReal lengthScale)</div><div class="ttdoc">Creates a set of joint constraint blocks. This function runs joint shaders defined inside PxConstrain...</div></div>
<div class="ttc" id="classPxVec3_html"><div class="ttname"><a href="classPxVec3.html">PxVec3</a></div><div class="ttdoc">3 Element vector class. </div><div class="ttdef"><b>Definition:</b> PxVec3.h:49</div></div>
<div class="ttc" id="PxCollisionDefs_8h_html"><div class="ttname"><a href="PxCollisionDefs_8h.html">PxCollisionDefs.h</a></div></div>
<div class="ttc" id="structPxFeatherstoneArticulationData_html"><div class="ttname"><a href="structPxFeatherstoneArticulationData.html">PxFeatherstoneArticulationData</a></div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:271</div></div>
<div class="ttc" id="structPxConstraintBatchHeader_html"><div class="ttname"><a href="structPxConstraintBatchHeader.html">PxConstraintBatchHeader</a></div><div class="ttdef"><b>Definition:</b> PxSolverDefs.h:104</div></div>
<div class="ttc" id="structPxRigidBodyData_html_a660b46913c44f1c050e2e1559c45ddd1"><div class="ttname"><a href="structPxRigidBodyData.html#a660b46913c44f1c050e2e1559c45ddd1">PxRigidBodyData::maxContactImpulse</a></div><div class="ttdeci">PxReal maxContactImpulse</div><div class="ttdoc">48 Maximum permissable contact impulse </div><div class="ttdef"><b>Definition:</b> PxImmediateMode.h:60</div></div>
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